EP0143853A1 - Robot industriel du type a bras articule - Google Patents

Robot industriel du type a bras articule Download PDF

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Publication number
EP0143853A1
EP0143853A1 EP84901801A EP84901801A EP0143853A1 EP 0143853 A1 EP0143853 A1 EP 0143853A1 EP 84901801 A EP84901801 A EP 84901801A EP 84901801 A EP84901801 A EP 84901801A EP 0143853 A1 EP0143853 A1 EP 0143853A1
Authority
EP
European Patent Office
Prior art keywords
forearm
sprocket
axis
wrist
end portion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP84901801A
Other languages
German (de)
English (en)
Other versions
EP0143853A4 (fr
Inventor
Seiichiro Nakashima
Kenichi Toyoda
Nobutoshi Torii
Ryo Nihei
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP0143853A1 publication Critical patent/EP0143853A1/fr
Publication of EP0143853A4 publication Critical patent/EP0143853A4/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18832—Reciprocating or oscillating to or from alternating rotary including flexible drive connector [e.g., belt, chain, strand, etc.]

Definitions

  • the present invention relates to an industrial robot, more particularly to an industrial robot of the articulated arm type.
  • Known industrial robots of the articulated arm type generally are provided with a movable robot body arranged on a base.
  • a first arm or upper arm having root and tip portions is rotatably pivoted to the robot body at the root portion.
  • a second arm or forearm having rear and front ends is rotatably pivoted to the top portion of the upper arm at a portion between the rear and front ends.
  • a wrist assembly arranged at the front end of the forearm includes two or three moving elements which are rotatable about different axes.
  • the moving element forming the output end of the robot is adapted to support, a robot hand, welding gun, painting gun, or .other working attachment.
  • the moving elements of the wrist assembly are driven by independent wrist drive units about the corresponding axes.
  • Conventional wrist drive units generally comprise a first sprocket arranged in the upper arm, a drive motor arranged on the upper arm and coupled with the first sprocket to rotate the first sprocket, a second sprocket arranged where the forearm is pivoted to the upper arm, a third sprocket arranged in the tip portion of the forearm and operatively coupled with the corresponding moving element of the wrist assembly, an endless chain for transmitting rotational movement of the first sprocket to the second sprocket, and another endless chain for transmitting rotational movement of the second sprocket to the third sprocket.
  • An object of the present invention is to provide an industrial robot of an articulated arm type with a wrist drive unit made of few parts.
  • Another object of the present invention is to provide an industrial robot of the articulated arm type which has high rigidity against loads acting on the wrist assembly.
  • an industrial robot of the articulated arm type comprising: a movable robot body arranged on a base; an upper arm having root and tip portions and rotatably pivoted to said robot body at said root portion; a forearm having rear and front ends and rotatably pivoted to said tip portion of said upper arm at a position between said rear and front ends; a wrist assembly arranged on said front end of said forearm and rotatable in relation to said front end about at least one axis; and at least one wrist drive unit for driving said wrist assembly and rotating it about said axis, said wrist drive unit including a first sprocket which is rotatably arranged in said rear end of said forearm, a drive motor arranged on said rear end of said forearm and coupled with said first sprocket to rotate it, a second sprocket arranged in said front end of said forearm and operatively coupled with said wrist assembly, and a wrapping connector for transmitting rotational movement of
  • said wrapping connector includes a first chain meshing with said first sprocket, a second chain meshing with said second sprocket, and a pair of rods for connecting the two ends of said first chain to the two ends of said second chain, respectively.
  • This construction increases the rigidity of the wrapping connector.
  • said wrapping connector further includes means for absorbing any elongation of said first and second chains, which means includes at least one tensioner interposed between at least one of said chains and at least one of said rods.
  • This construction improve the accuracy in positioning of the wrist assembly.
  • said forearm is provided with a pair of guide members each slidably supporting each of said rods in a longitudinal direction thereof. This allows the rods to be smoothly guided with the guide members.
  • said upper arm is pivoted to said robot body and rotatable about a first axis and .said forearm is pivoted to said upper arm and rotatable about a second axis perpendicular to said first axis.
  • said wrist assembly comprises a first moving element, arranged on the front end of said forearm and rotatable about a third axis perpendicular to said second axis, and a second moving element, as an output end of the robot arranged on said first moving element and rotatable about a fourth axis perpendicular to said third axis.
  • the second moving element is capable of attaching thereon a robot hand, welding gun, painting gun, or other working attachment.
  • the industrial robot of the articulated arm type comprises a movable robot body 11 which is mounted on a base 10.
  • the robot body 11 is rotatable in a direction of arrow 8 about an axis X 1 which is perpendicular to the mounting surface of the base 10.
  • the robot body 11 can be arranged on the base 10 so as to move reciprocally and linearly in a direction parallel to the mounting surface of the base 10.
  • the base 10 is provided with a servo motor 12 for rotating the robot body 11.
  • An upper arm 13 having .a root portion 14 and a tip portion 15 is rotatably pivoted at its root portion 14 to the robot body 11.
  • the upper arm 13 is rotatable in a direction of arrow W about an axis X 2 perpendicular to the axis X 1 .
  • a servo motor 19-1 for rotating the appear arm 13 is mounted on the robot body 11.
  • a forearm 16 having a rear end 17 and a front end 18 is rotatably pivoted to the forkshaped tip portion 15 of the upper arm 13 at a position between the rear end 17 front end 18.
  • the forearm is rotatable in a direction of arrow U about an axis X 3 parallel to the axis X 2 .
  • a servo motor 19-2 for rotating the forearm 16 is mounted on the robot body 11 and arranged coaxially with the servo motor 19-1 for the upper arm 13.
  • a wrist assembly generally indicated by reference numeral 20 is arranged on the front end 18 of the forearm 16.
  • the wrist assembly 20 is composed of a first moving element 21, rotatable in relation to the front end 18 of the forearm 16 in a direction of arrow S about an axis X 4 parallel to the axis X 3 , and a second moving element 22 as a wrist tip portion, rotatable in relation to the first moving element 21 in a direction of arrow a about an axis X 5 perpendicular to the axis X 4 .
  • the second moving element 22 is capable of attaching thereon a robot hand, welding gun, painting gun, or other working attachment (not shown).
  • the forearm 16 is provided at its front end 18 with two supports 23 and 24 having a forked shape, the first moving element 21 of the wrist assembly 20 comprising a casing arranged between the supports 23 and 24.
  • a shaft 25 fixed to the casing 21 extends along the axis X 4 and is rotatably supported by the support 23 of the forearm 16 through a bearing.
  • a shaft 26 fixed to the wrist tip portion 22 extends along the axis X 5 and is rotatably supported on the casing 21 through a bearing.
  • the articulated-arm-type industrial robot further comprises two wrist drive units 27 and 28 for rotating the moving elements 21 and 22, respectively, about the corresponding axes.
  • the wrist drive unit 27 for the casing 21 includes a first sprocket 21 rotatably supported in the rear end 17 of the forearm 16 through a bearing 30.
  • a servo motor 31 is mounted on the rear end 17 of the forearm 16 as a drive motor for rotating the first sprocket 29.
  • An output shaft of the motor 31 is coupled with the first sprocket 29 through a speed reduction gear 32.
  • a second sprocket 33 is arranged in the support 23 of the front end 18 of the forearm 16. This second sprocket 33 is fixed to the shaft 25 of the casing 21 of the wrist assembly 20.
  • the first sprocket 29 is coupled with the second sprocket 33 through a wrapping connector 34 for transmitting rotational movement.
  • the wrist drive unit 28 for the wrist tip portion 22 includes a first sprocket 36 which is rotatably supported in the rear end 17 of the forearm 16 through a bearing 35.
  • a servo motor 37 is mounted on the rear end 17 of the forearm 16 as a drive motor for rotating the first sprocket 36.
  • An output shaft of the motor 37 is coupled with the first sprocket 36 through a speed reduction gear 38.
  • a second sprocket 39 is arranged in the support 24 of the front end 18 of the forearm 16. This second sprocket 39 is fixed to a shaft 40.
  • the shaft 40 extends along the axis X 4 and is rotatably supported by the support 24 through a bearing 41.
  • the casing 21 is rotatably supported on the shaft 40 through a bearing 42.
  • a bevel gear 43 fixed to the shaft 40 meshes with a bevel gear 44 fixed to the shaft 26.
  • the first sprocket 36 is coupled with the second sprocket 39 through a wrapping connector 45 for transmitting rotational movement.
  • the construction of the wrapping connector 34 is substantially the same as that of the wrapping connector .45, so only the construction of the connector 45 is described hereinafter.
  • the corresponding components of the connector 34 are denoted by the same reference numerals.
  • the wrapping connector 45 comprises a first chain 46 meshing with the first sprocket 36, a second chain 47 meshing with the second sprocket 39, and a pair of rods 48 and 49 for connecting the two ends of the first chain 46 and the two ends of the second chain 47, respectively.
  • the rods 48 and 49 are made of rigid materials such as metal.
  • the forearm 16 is provided with guide members 50 and 51 each slidably supporting the rods 48 and 49 in a longitudinal direction thereof.
  • a bushing (not shown) may be arranged on the inner surface of each of the guide members 50 and 51 for guiding more smoothly the rods 48 and 49, respectively.
  • the wrapping connector 45 includes means for absorbing any elongation of the first chain 46 and the second chain 47.
  • the means includes two tensioners 52 arranged between the rods 48 and 49 and the second chain 47.
  • the tensioners 52 apply a constant tensile force to the chains 46 and 47.
  • the tensioners 52 include a cylindrical member 53 connected to the rod and a rod member 54 connected to the chain.
  • the rod member 54 extends into the cylindrical member 53 through a rod guide 55 mounted on the cylindrical member 53.
  • the rod member 54 is provided at its tip portion with a flange or nut 56.
  • a plurality of coned disc springs 57 are engaged in a compressed state with the rod member 54 in an axial direction, the coned disc springs 57 apply a constant tensile force to the chains. Any elongation of the chains due to wear of the chains is absorbed by the spring force of the coned disc springs 57.
  • the wrapping connector 34 has the same construction as the wrapping connector 45.
  • the rotational movement of the first sprocket 29 provided by the motor 31 is transmitted through the wrapping connector 34 to the second sprocket 33.
  • the casing 21 of the wrist assembly 20 is rotated about the axis X 4 .
  • the rotational movement of the first sprocket 36 provided by the motor 37 is transmitted through the wrapping connector 45 to the second sprocket 39.
  • the rotational movement of the second sprocket 39 is transmitted through the bevel gears 43 and 44 to the wrist tip portion 22 of the wrist assembly 20.
  • the wrist tip portion 22 is rotated about the axis X 5 .
  • the rotational movements of the casing 21 and of the wrist tip portion 22 are limited, respectively, to within the range of a predetermined stroke of not more than one rotation. It is desirable to shorten the length of the chains 46 and 47 as much as possible, therefore, it is preferable to select the minimum length of each of the chains necessary for the rotational stroke of the casing 21 and the wrist tip portion 22.
  • the power transmission between the motors 31, 37 and the moving elements 21, 22 of the wrist assembly 20 can be effected by the minimum number of the sprockets and wrapping connectors. Since part of the wrapping connectors 34 and 45 consists of the rods 48 and 49, elongation of the wrapping connectors 34 and 45 can be reduced and, therefore, the rigidities of the drive systems against loads acting on the wrist assembly can .be increased. That is, the rigidity of the wrist assembly can be increased. Since the tensioners 52 absorb any elongation of the chains 46 and 47 of the wrapping connectors 34 and 45, respectively, the accuracy in positioning of the elements 21 and 22 of the wrist assembly 20 is positively prevented from being deteriorated.
  • the motors 31 and 37 of the two wrist drive units 27 and 28 are installed at the rear end of the forearm 16 rather than at the pivoted position of the forearm 16 to the upper arm 13. Consequently, the rotational moment acting on the pivoted portion of the forearm 16 is minimized.
  • the wrist assembly may include three moving elements rotationally moving about three axes, respectively.
  • the above-mentioned construction may be applied to the three drive systems for the moving elements.
  • the tensioner may be arranged at any given position in the wrapping connector.
  • the industrial robot of the articulated arm type according to the present invention can be used as a work robot for many kinds of operations, such as an assembly of work, welding, and painting.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Un robot industriel du type à bras articulé possède un corps de robot mobile (11) disposé sur une base (10). La partie d'extrémité proximale d'un bras supérieur (13) pourvu d'une partie d'extrémité proximale et d'une partie d'extrémité éloignée est fixée de manière pivotante sur le corps du robot (11). Un avant-bras (16) pourvu d'une partie d'extrémité arrière et d'une partie d'extrémité avant est fixé de manière pivotante par un point entre ces parties d'extrémité arrière et avant à la partie d'extrémité distale du bras supérieur (13). Un dispositif de poignet (20) est pourvu de deux éléments mobiles (21, 22) qui peuvent se déplacer par rapport à la partie d'extrémité avant de l'avant-bras (16) sur des axes de préférence avant. Les éléments mobiles (21, 22) du dispositif de poignet (20) tourne autour de leurs axes, sous l'effet de dispositifs d'entraînement de poignet (27, 28), respectivement. Les dispositifs d'entraînement de poignet (27, 28) sont pourvus d'un premier groupe de roues dentées (29, 36), respectivement, agencées de manière rotative à l'intérieur de la partie d'extrémité arrière de l'avant-bras (16). Des moteurs d'entraînement (31, 37) permettant la rotation du premier groupe de roues dentées (29, 36), respectivement, sont disposés dans la partie d'extrémité arrière de l'avant-bras (16). Un deuxième groupe de roues dentées (33, 39) reliées aux éléments mobiles (21, 22), respectivement, du dispositif de poignet (20) sont disposées à l'intérieur de la partie d'extrémité avant de l'avant-bras (16). Les rotations du premier groupe de roues dentées (29, 36) sont transmises au deuxième groupe de roues dentées correspondantes (33, 39) à l'aide de connecteurs à bague (34, 45), respectivement. Les connecteurs à bague (34, 45) sont constitués par des assemblages sans fin composés de chaînes (46, 47) et de tiges (48, 49).
EP19840901801 1983-04-30 1984-04-27 Robot industriel du type a bras articule. Withdrawn EP0143853A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP74955/83 1983-04-30
JP58074955A JPS59201790A (ja) 1983-04-30 1983-04-30 ロボツトの手首駆動装置

Publications (2)

Publication Number Publication Date
EP0143853A1 true EP0143853A1 (fr) 1985-06-12
EP0143853A4 EP0143853A4 (fr) 1987-03-16

Family

ID=13562248

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19840901801 Withdrawn EP0143853A4 (fr) 1983-04-30 1984-04-27 Robot industriel du type a bras articule.

Country Status (4)

Country Link
US (1) US4637773A (fr)
EP (1) EP0143853A4 (fr)
JP (1) JPS59201790A (fr)
WO (1) WO1984004269A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105383944A (zh) * 2015-12-21 2016-03-09 中山市厚源电子科技有限公司 一种自动化托盘堆放机械臂与控制器

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FR2582978B1 (fr) * 1985-06-10 1987-09-04 Barland Michel Tete articulee pour robot industriel et robot equipe d'une telle tete
JPS61293784A (ja) * 1985-06-24 1986-12-24 ファナック株式会社 産業用ロボツト
US4784010A (en) * 1987-04-27 1988-11-15 Graco Robotics Inc. Electric robotic work unit
DE3939836A1 (de) * 1988-12-02 1990-06-07 Tokico Ltd Industrieroboter
JP2567082B2 (ja) * 1989-03-02 1996-12-25 ファナック株式会社 産業用ロボットの関節構造
US5102280A (en) * 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
US5200679A (en) * 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
EP0643002B1 (fr) * 1993-09-06 1997-10-29 Focke & Co. (GmbH & Co.) Manipulateur avec partie téléscopique
US6227793B1 (en) * 1999-05-25 2001-05-08 Norfield Industries Door transport system
US6389328B1 (en) 1999-09-13 2002-05-14 Nippon Crescent Co., Ltd. Method of and apparatus for attracting and conveying conveyable objects and process of and system for checking in an eating establishment
US6639684B1 (en) * 2000-09-13 2003-10-28 Nextengine, Inc. Digitizer using intensity gradient to image features of three-dimensional objects
US20050016313A1 (en) * 2003-06-16 2005-01-27 Robertson William C. Manipulator
US7711179B2 (en) * 2004-04-21 2010-05-04 Nextengine, Inc. Hand held portable three dimensional scanner
US7995834B1 (en) 2006-01-20 2011-08-09 Nextengine, Inc. Multiple laser scanner
KR20090128878A (ko) * 2008-06-11 2009-12-16 삼성전자주식회사 로봇용 관절구동장치 및 이를 구비한 로봇
DE102009000261A1 (de) * 2009-01-15 2010-07-29 Tetra Gesellschaft für Sensorik, Robotik und Automation mbH Übertragungsmechanismus
CN102452080A (zh) * 2010-10-27 2012-05-16 鸿富锦精密工业（深圳）有限公司 机器人臂部件
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9221180B2 (en) * 2011-12-23 2015-12-29 Fabworx Solutions, Inc. Extended wrist assembly for robotic arm
CN103433918B (zh) * 2013-09-09 2016-06-01 清华大学 一种五自由度混联工业机器人
CN103521381B (zh) * 2013-09-09 2016-03-02 江苏长虹智能装备集团有限公司 一种转台立柱式五自由度混联喷涂机器人
CN103552057A (zh) * 2013-10-17 2014-02-05 上海海洋大学 多自由度水下作业机械臂
CN104923431A (zh) * 2014-03-18 2015-09-23 上海飞机制造有限公司 多平行四边形连杆并行驱动的喷涂机器人
JP6677970B2 (ja) * 2015-02-20 2020-04-08 川崎重工業株式会社 産業用ロボット
GB2552383B (en) * 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints
CN107243893A (zh) * 2017-07-27 2017-10-13 哈尔滨博实自动化股份有限公司 机器人

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FR1405253A (fr) * 1964-05-05 1965-07-09 Commissariat Energie Atomique Manipulateur mécanique
FR2450673A1 (fr) * 1979-03-05 1980-10-03 Jungheinrich Kg Machine automatique pour la manipulation de pieces a usiner et/ou d'outils
GB2061872A (en) * 1979-10-12 1981-05-20 Hitachi Ltd Industrial robots
FR2506655A1 (fr) * 1981-05-29 1982-12-03 Rimrock Corp Appareil programmable de positionnement et de manoeuvre, tel qu'un manipulateur

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JPS5453460A (en) * 1977-09-12 1979-04-26 Mitsubishi Heavy Ind Ltd Wrist structure for working robot reduced in size and weight near joint
JPS54159964A (en) * 1978-06-06 1979-12-18 Shiroyama Kogyo Kk Articulated arm type manipulator
JPS5520839A (en) * 1978-07-31 1980-02-14 Nat Jutaku Kenzai Method of building ceiling of prefabricated basement
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Publication number Priority date Publication date Assignee Title
FR1405253A (fr) * 1964-05-05 1965-07-09 Commissariat Energie Atomique Manipulateur mécanique
FR2450673A1 (fr) * 1979-03-05 1980-10-03 Jungheinrich Kg Machine automatique pour la manipulation de pieces a usiner et/ou d'outils
GB2061872A (en) * 1979-10-12 1981-05-20 Hitachi Ltd Industrial robots
FR2506655A1 (fr) * 1981-05-29 1982-12-03 Rimrock Corp Appareil programmable de positionnement et de manoeuvre, tel qu'un manipulateur

Non-Patent Citations (1)

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Title
See also references of WO8404269A1 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105383944A (zh) * 2015-12-21 2016-03-09 中山市厚源电子科技有限公司 一种自动化托盘堆放机械臂与控制器

Also Published As

Publication number Publication date
EP0143853A4 (fr) 1987-03-16
JPS59201790A (ja) 1984-11-15
WO1984004269A1 (fr) 1984-11-08
US4637773A (en) 1987-01-20

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Effective date: 19880229

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Inventor name: NIHEI, RYO

Inventor name: TOYODA, KENICHI

Inventor name: TORII, NOBUTOSHI

Inventor name: NAKASHIMA, SEIICHIRO